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Live PID tuning for standard branch (commaai#160)
* Live tuning for Kp and Ki for standard branch * import numpy * Params Kp and Ki only and fix kegman import * initialize self.mpc_frame * Remove Dashboard * Update latcontrol.py * Update latcontrol.py * Update latcontrol.py * Update latcontrol.py * Update latcontrol.py * Update latcontrol.py * Update latcontrol.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,157 @@ | ||
| from selfdrive.kegman_conf import kegman_conf | ||
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| letters = { "a":[ "###", "# #", "###", "# #", "# #"], "b":[ "###", "# #", "###", "# #", "###"], "c":[ "###", "#", "#", "#", "###"], "d":[ "##", "# #", "# #", "# #", "##"], "e":[ "###", "#", "###", "#", "###"], "f":[ "###", "#", "###", "#", "#"], "g":[ "###", "# #", "###", " #", "###"], "h":[ "# #", "# #", "###", "# #", "# #"], "i":[ "###", " #", " #", " #", "###"], "j":[ "###", " #", " #", " #", "##"], "k":[ "# #", "##", "#", "##", "# #"], "l":[ "#", "#", "#", "#", "###"], "m":[ "# #", "###", "###", "# #", "# #"], "n":[ "###", "# #", "# #", "# #", "# #"], "o":[ "###", "# #", "# #", "# #", "###"], "p":[ "###", "# #", "###", "#", "#"], "q":[ "###", "# #", "###", " #", " #"], "r":[ "###", "# #", "##", "# #", "# #"], "s":[ "###", "#", "###", " #", "###"], "t":[ "###", " #", " #", " #", " #"], "u":[ "# #", "# #", "# #", "# #", "###"], "v":[ "# #", "# #", "# #", "# #", " #"], "w":[ "# #", "# #", "# #", "###", "###"], "x":[ "# #", " #", " #", " #", "# #"], "y":[ "# #", "# #", "###", " #", "###"], "z":[ "###", " #", " #", "#", "###"], " ":[ " "], "1":[ " #", "##", " #", " #", "###"], "2":[ "###", " #", "###", "#", "###"], "3":[ "###", " #", "###", " #", "###"], "4":[ "#", "#", "# #", "###", " #"], "5":[ "###", "#", "###", " #", "###"], "6":[ "###", "#", "###", "# #", "###"], "7":[ "###", " # ", " #", " #", "#"], "8":[ "###", "# #", "###", "# #", "###"], "9":[ "###", "# #", "###", " #", "###"], "0":[ "###", "# #", "# #", "# #", "###"], "!":[ " # ", " # ", " # ", " ", " # "], "?":[ "###", " #", " ##", " ", " # "], ".":[ " ", " ", " ", " ", " # "], "]":[ " ", " ", " ", " #", " # "], "/":[ " #", " #", " # ", "# ", "# "], ":":[ " ", " # ", " ", " # ", " "], "@":[ "###", "# #", "## ", "# ", "###"], "'":[ " # ", " # ", " ", " ", " "], "#":[ " # ", "###", " # ", "###", " # "], "-":[ " ", " ","###"," "," "] } | ||
| # letters stolen from here: http://www.stuffaboutcode.com/2013/08/raspberry-pi-minecraft-twitter.html | ||
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| def print_letters(text): | ||
| bigletters = [] | ||
| for i in text: | ||
| bigletters.append(letters.get(i.lower(),letters[' '])) | ||
| output = ['']*5 | ||
| for i in range(5): | ||
| for j in bigletters: | ||
| temp = ' ' | ||
| try: | ||
| temp = j[i] | ||
| except: | ||
| pass | ||
| temp += ' '*(5-len(temp)) | ||
| temp = temp.replace(' ',' ') | ||
| temp = temp.replace('#','@') | ||
| output[i] += temp | ||
| return '\n'.join(output) | ||
| import sys, termios, tty, time | ||
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| def getch(): | ||
| fd = sys.stdin.fileno() | ||
| old_settings = termios.tcgetattr(fd) | ||
| try: | ||
| tty.setraw(sys.stdin.fileno()) | ||
| ch = sys.stdin.read(1) | ||
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| finally: | ||
| termios.tcsetattr(fd, termios.TCSADRAIN, old_settings) | ||
| return ch | ||
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| button_delay = 0.2 | ||
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| kegman = kegman_conf() | ||
| #kegman.conf['tuneGernby'] = "1" | ||
| #kegman.write_config(kegman.conf) | ||
| param = ["tuneGernby", "reactMPC", "dampMPC", "Kp", "Ki"] | ||
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| j = 0 | ||
| while True: | ||
| print "" | ||
| print print_letters(param[j][0:9]) | ||
| print "" | ||
| print print_letters(kegman.conf[param[j]]) | ||
| print "" | ||
| print "reactMPC is an adjustment to the time projection of the MPC" | ||
| print "angle used in the dampening calculation. Increasing this value" | ||
| print "would cause the vehicle to turn sooner." | ||
| print "" | ||
| print "" | ||
| print "dampMPC is the amount of time that the samples" | ||
| print "will be projected and averaged to smooth the values" | ||
| print "" | ||
| print "" | ||
| print ("Press 1, 3, 5, 7 to incr 0.1, 0.05, 0.01, 0.001") | ||
| print ("press a, d, g, j to decr 0.1, 0.05, 0.01, 0.001") | ||
| print ("press 0 / L to make the value 0 / 1") | ||
| print ("press SPACE / m for next /prev parameter") | ||
| print ("press q to quit") | ||
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| char = getch() | ||
| write_json = False | ||
| if (char == "7"): | ||
| kegman.conf[param[j]] = str(float(kegman.conf[param[j]]) + 0.001) | ||
| write_json = True | ||
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| if (char == "5"): | ||
| kegman.conf[param[j]] = str(float(kegman.conf[param[j]]) + 0.01) | ||
| write_json = True | ||
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| elif (char == "3"): | ||
| kegman.conf[param[j]] = str(float(kegman.conf[param[j]]) + 0.05) | ||
| write_json = True | ||
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| elif (char == "1"): | ||
| kegman.conf[param[j]] = str(float(kegman.conf[param[j]]) + 0.1) | ||
| write_json = True | ||
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| elif (char == "j"): | ||
| kegman.conf[param[j]] = str(float(kegman.conf[param[j]]) - 0.001) | ||
| write_json = True | ||
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| elif (char == "g"): | ||
| kegman.conf[param[j]] = str(float(kegman.conf[param[j]]) - 0.01) | ||
| write_json = True | ||
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| elif (char == "d"): | ||
| kegman.conf[param[j]] = str(float(kegman.conf[param[j]]) - 0.05) | ||
| write_json = True | ||
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| elif (char == "a"): | ||
| kegman.conf[param[j]] = str(float(kegman.conf[param[j]]) - 0.1) | ||
| write_json = True | ||
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| elif (char == "0"): | ||
| kegman.conf[param[j]] = "0" | ||
| write_json = True | ||
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| elif (char == "l"): | ||
| kegman.conf[param[j]] = "1" | ||
| write_json = True | ||
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| elif (char == " "): | ||
| if j < len(param) - 1: | ||
| j = j + 1 | ||
| else: | ||
| j = 0 | ||
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| elif (char == "m"): | ||
| if j > 0: | ||
| j = j - 1 | ||
| else: | ||
| j = len(param) - 1 | ||
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| elif (char == "q"): | ||
| break | ||
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| if float(kegman.conf['tuneGernby']) != 1 and float(kegman.conf['tuneGernby']) != 0: | ||
| kegman.conf['tuneGernby'] = "1" | ||
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| if float(kegman.conf['dampMPC']) < 0 and float(kegman.conf['dampMPC']) != -1: | ||
| kegman.conf['dampMPC'] = "0" | ||
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| if float(kegman.conf['dampMPC']) > 1.0: | ||
| kegman.conf['dampMPC'] = "1.0" | ||
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| if float(kegman.conf['reactMPC']) < -0.99 and float(kegman.conf['reactMPC']) != -1: | ||
| kegman.conf['reactMPC'] = "-0.99" | ||
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| if float(kegman.conf['reactMPC']) > 1.0: | ||
| kegman.conf['reactMPC'] = "1.0" | ||
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| if float(kegman.conf['Ki']) < 0 and float(kegman.conf['Ki']) != -1: | ||
| kegman.conf['Ki'] = "0" | ||
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| if float(kegman.conf['Ki']) > 2: | ||
| kegman.conf['Ki'] = "2" | ||
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| if float(kegman.conf['Kp']) < 0 and float(kegman.conf['Kp']) != -1: | ||
| kegman.conf['Kp'] = "0" | ||
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| if float(kegman.conf['Kp']) > 3: | ||
| kegman.conf['Kp'] = "3" | ||
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| if write_json: | ||
| kegman.write_config(kegman.conf) | ||
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| time.sleep(button_delay) |
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